Applied review changes

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/AcekrmannController.cpp

@@ -35,7 +35,7 @@ void FAckermannController::ApplySettings(const FAckermannControllerSettings& Set
   SpeedController.Kp = Settings.SpeedKp;
   SpeedController.Ki = Settings.SpeedKi;
   SpeedController.Kd = Settings.SpeedKd;
-  
+
   AccelerationController.Kp = Settings.AccelKp;
   AccelerationController.Ki = Settings.AccelKi;
   AccelerationController.Kd = Settings.AccelKd;
@@ -93,35 +93,6 @@ void FAckermannController::RunLoop(FVehicleControl& Control) {
   Control.Throttle = FMath::Clamp(Throttle, 0.0f, 1.0f);
   Control.Brake = FMath::Clamp(Brake, 0.0f, 1.0f);
   Control.bReverse = bReverse;
-
-  // // Debugging
-  // UE_LOG(LogCarla, Log, TEXT("[AckermannLog];%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%d;%f;%f;%f;%f"),
-  //     DeltaTime,
-  //     UserTargetPoint.Steer,
-  //     UserTargetPoint.Speed,
-  //     UserTargetPoint.Acceleration,
-  //     UserTargetPoint.Jerk,
-  //     VehicleSpeed,
-  //     VehicleAcceleration,
-  //     //VehiclePitch,
-  //     Control.Steer,
-  //     Control.Throttle,
-  //     Control.Brake,
-  //     Control.Gear,
-  //     //SpeedController.Proportional,
-  //     //SpeedController.Integral,
-  //     //SpeedController.Derivative,
-  //     SpeedControlAccelDelta,
-  //     SpeedControlAccelTarget,
-  //     //AccelerationController.Proportional,
-  //     //AccelerationController.Integral,
-  //     //AccelerationController.Derivative,
-  //     AccelControlPedalDelta,
-  //     AccelControlPedalTarget
-  //     //BrakeUpperBorder,
-  //     //ThrottleLowerBorder
-  //   );
-
 }
 
 void FAckermannController::RunControlSteering() {
@@ -137,7 +108,7 @@ bool FAckermannController::RunControlFullStop() {
     Throttle = 0.0;
     return true;
   }
-  return false;  
+  return false;
 }
 
 void FAckermannController::RunControlReverse() {
@@ -163,7 +134,6 @@ void FAckermannController::RunControlReverse() {
   }
 }
 
-
 void FAckermannController::RunControlSpeed() {
   SpeedController.SetTargetPoint(TargetSpeed);
   SpeedControlAccelDelta = SpeedController.Run(VehicleSpeed, DeltaTime);
@@ -217,16 +187,17 @@ void FAckermannController::UpdateVehicleState(const ACarlaWheeledVehicle* Vehicl
 
   LastVehicleSpeed = VehicleSpeed;
   LastVehicleAcceleration = VehicleAcceleration;
-  
+
   // Update simulation state
   DeltaTime = Vehicle->GetWorld()->GetDeltaSeconds();
 
   // Update Vehicle state
   VehicleSpeed = Vehicle->GetVehicleForwardSpeed() / 100.0f;  // From cm/s to m/s
   float CurrentAcceleration = (VehicleSpeed - LastVehicleSpeed) / DeltaTime;
+  // Apply an average filter for the acceleration.
   VehicleAcceleration = (4.0f*LastVehicleAcceleration + CurrentAcceleration) / 5.0f;
 }
 
 void FAckermannController::UpdateVehiclePhysics(const ACarlaWheeledVehicle* Vehicle) {
   VehicleMaxSteering = FMath::DegreesToRadians(Vehicle->GetMaximumSteerAngle());
-}
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/AckermannController.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -51,7 +51,7 @@ class PID
     Integral = 0.0f;
     Integral = FMath::Clamp(Integral, MinOutput, MaxOutput);
     Derivative = 0.0f;
-    
+
     LastError = 0.0f;
     LastInput = 0.0f;
   }
@@ -136,7 +136,7 @@ private:
   // Internal control parameters
   float SpeedControlAccelDelta = 0.0f;
   float SpeedControlAccelTarget = 0.0f;
-  
+
   float AccelControlPedalDelta = 0.0f;
   float AccelControlPedalTarget = 0.0f;
 
@@ -151,4 +151,4 @@ private:
 
   float LastVehicleSpeed = 0.0f;         // [m/s]
   float LastVehicleAcceleration = 0.0f;  // [m/s2]
-};
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -726,7 +726,7 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
   {
     Recorder->AddPhysicsControl(*this);
   }
-  
+
   // Update physics in the Ackermann Controller
   AckermannController.UpdateVehiclePhysics(this);
 }